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| author | Julian Oes <joes@student.ethz.ch> | 2012-09-26 10:11:57 +0200 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2012-09-26 10:11:57 +0200 |
| commit | 201fdbc42c46bc9146a8cbf2434a98792d6d9f50 (patch) | |
| tree | ab63df77eff1e20b508c3c4aad40c6911d082a49 /apps/sensors/sensors.cpp | |
| parent | abbe998506e4ba49bbf6a9a9ae731b1eec521db6 (diff) | |
| download | px4-firmware-201fdbc42c46bc9146a8cbf2434a98792d6d9f50.tar.gz px4-firmware-201fdbc42c46bc9146a8cbf2434a98792d6d9f50.tar.bz2 px4-firmware-201fdbc42c46bc9146a8cbf2434a98792d6d9f50.zip | |
ardrone flying now (still workaround of disabled rates controller)
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index eb22ac8a7..ceb8c4b10 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -968,7 +968,7 @@ Sensors::ppm_poll() _rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]); } else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) { /* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */ - _rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i])); + _rc.chan[i].scaled = -((_parameters.trim[i] - ppm_buffer[i]) / (float)(_parameters.trim[i] - _parameters.min[i])); } else { /* in the configured dead zone, output zero */ @@ -1029,6 +1029,8 @@ Sensors::ppm_poll() orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); + +// printf("SENSORS: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",manual_control.roll, manual_control.pitch, manual_control.yaw, manual_control.throttle); } #endif |